EP0262360A2 - Device for picking up and depositing cut articles - Google Patents

Device for picking up and depositing cut articles Download PDF

Info

Publication number
EP0262360A2
EP0262360A2 EP87111740A EP87111740A EP0262360A2 EP 0262360 A2 EP0262360 A2 EP 0262360A2 EP 87111740 A EP87111740 A EP 87111740A EP 87111740 A EP87111740 A EP 87111740A EP 0262360 A2 EP0262360 A2 EP 0262360A2
Authority
EP
European Patent Office
Prior art keywords
suction
receptacle
vacuum
vacuum supply
suction pipe
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP87111740A
Other languages
German (de)
French (fr)
Other versions
EP0262360A3 (en
EP0262360B1 (en
Inventor
Lorenz Mense
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Airbus Defence and Space GmbH
Original Assignee
Deutsche Aerospace AG
Messerschmitt Bolkow Blohm AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deutsche Aerospace AG, Messerschmitt Bolkow Blohm AG filed Critical Deutsche Aerospace AG
Publication of EP0262360A2 publication Critical patent/EP0262360A2/en
Publication of EP0262360A3 publication Critical patent/EP0262360A3/en
Application granted granted Critical
Publication of EP0262360B1 publication Critical patent/EP0262360B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the invention relates to a device for receiving and depositing blanks, such as prepreg, fabric, foil or plate blanks, in the form of a vacuum lifter.
  • Training of this type is used as a tool in the manufacture of components and has become known in a variety of configurations.
  • problems when used in automatic series production as a tool for robots, if different blanks are used and sticking or shifting of stored adjacent blanks cannot be ruled out, and there is a vacuum loss in free pick-up areas.
  • the object of the invention is to improve a generic device and with little effort To create a simple arrangement that allows flexible adaptation of the suction surface formed to the workpiece geometry and thus ensures an individual consideration of the conditions.
  • This object is achieved according to the invention in that a multiplicity of suction tubes for forming suction openings is arranged in a grid-like manner on a receptacle and each suction tube can be controlled individually for the vacuum supply.
  • Adjustment and retrofitting is thus possible quickly and individually, depending on the size and weight of the workpieces to be handled, the distance between the suction openings and their number being switchable accordingly.
  • each suction pipe is arranged in a height-adjustable manner in the receptacle and against the pressure of a spring via an associated lifting magnet, from a retracted rest position separated from the vacuum feeder into a receptacle connected to the vacuum feeder, from the receptacle protruding working position is adjustable.
  • a simple seal for the vacuum supply is created in that the suction pipe, with its inlet opening in the retracted rest position, bears against an associated sealing rubber element of the boundary as a closure.
  • suction openings of the suction pipes are formed by suction cups.
  • the individual suction pipes can be controlled by a computer in accordance with the existing cutting geometry and / or the weight of the cutting.
  • the receptacle is formed by a box-shaped arrangement of cover plate 1, side wall 2 and base plate 3.
  • the space enclosed thereby is supplied as a vacuum space 12 with a vacuum generator, not shown.
  • the base plate 3 as a receiving area for a workpiece has openings for the passage of grid-shaped suction tubes 5, 6, which are held in the retracted rest position by springs 11 and are guided by a guide plate 4. In this rest position, the suction pipes 5, 6 rest on the cover plate 1 and are sealed with their inlet openings from the vacuum space by means of an interposed sealing rubber element 9.
  • Each suction tube 5, 6 can be set into a protruding working position via an actuating lever 10, which is connected to a lifting magnet 7, 8.
  • the inlet opening of the suction pipe 5, 6 is also opened and connected to the vacuum space 12.
  • Each suction pipe 5, 6 can thus be individually controlled in a simple manner and can be supplied with a vacuum via the associated lifting magnet 7, 8.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Manipulator (AREA)
  • Feeding Of Articles By Means Other Than Belts Or Rollers (AREA)

Abstract

Es ist hierbei vorgesehen, in einer Aufnahme eines Vakuumhebers über Saugrohre (5, 6) Saugöffnungen zur Erfassung eines Werkstückes zu schaffen. Hierbei ist jedes Saugrohr zur Vakuumzuführung individuell ansteuerbar. Eine einfache Ausbildung wird durch höhenverstellbare Saugrohre gebildet, die einzeln über Hubmagnete (7, 8) betätigbar sind und eine von der Vakuumzuführung abgetrennte zurückgezogene Ruheposition in eine aus der Aufnahme hervortretende Arbeitsposition einstellbar ist.It is provided here to create suction openings in a receptacle of a vacuum lifter via suction pipes (5, 6) for gripping a workpiece. Each suction pipe for vacuum supply can be controlled individually. A simple design is formed by height-adjustable suction tubes which can be actuated individually via lifting magnets (7, 8) and a retracted rest position separated from the vacuum supply can be adjusted into a working position emerging from the receptacle.

Description

Die Erfindung bezieht sich auf eine Vorrichtung zum Aufnehmen und Ablegen von Zuschnitten, wie Prepreg-, Stoff-, Folien- oder Plattenzuschnitte, in Form eines Vakuumhebers.The invention relates to a device for receiving and depositing blanks, such as prepreg, fabric, foil or plate blanks, in the form of a vacuum lifter.

Ausbildungen dieser Art werden bei der Fertigung von Bauteilen als Werkzeug eingesetzt und sind in vielfälti­gen Ausgestaltungen bekannt geworden. Es hat sich aber in der Paraxis gezeigt, daß beim Einsatz in einer automatischen Serienfertigung als Werkzeug für Roboter Probleme bestehen, falls unterschiedliche Zuschnitte verwendet werden und ein Anhaften oder Verschieben von gelagerten benachbarten Zuschnitten nicht auszuschließen ist sowie ein Vakuumverlust bei freien Aufnahmebereichen eintritt.Training of this type is used as a tool in the manufacture of components and has become known in a variety of configurations. However, it has been shown in practice that there are problems when used in automatic series production as a tool for robots, if different blanks are used and sticking or shifting of stored adjacent blanks cannot be ruled out, and there is a vacuum loss in free pick-up areas.

Die Aufgabe der Erfindung ist es, eine gattungsgemäße Vorrichtung zu verbessern und mit geringem Aufwand eine einfache Anordnung zu schaffen, die eine flexible An­passung der gebildeten Saugfläche an die Werkstück­geometrie ermöglicht und somit eine individuelle Berück­sichtigung der Verhältnisse gewährleistet.The object of the invention is to improve a generic device and with little effort To create a simple arrangement that allows flexible adaptation of the suction surface formed to the workpiece geometry and thus ensures an individual consideration of the conditions.

Die Lösung dieser Aufgabe erfolgt erfindungsgemäß da­durch, daß eine Vielzahl von Saugrohren zur Bildung von Saugöffnungen an einer Aufnahme rasterartig verteilt angeordnet ist und jedes Saugrohr zur Vakuumzuführung individuell ansteuerbar ist.This object is achieved according to the invention in that a multiplicity of suction tubes for forming suction openings is arranged in a grid-like manner on a receptacle and each suction tube can be controlled individually for the vacuum supply.

Somit ist eine Einstellung und Umrüstung je nach Größe und Gewicht der zu handhabenden Werkstücke schnell und individuell möglich, wobei auch der Abstand der Saug­öffnungen zueinander sowie ihre Anzahl entsprechend einschaltbar ist.Adjustment and retrofitting is thus possible quickly and individually, depending on the size and weight of the workpieces to be handled, the distance between the suction openings and their number being switchable accordingly.

Eine vorteilhafte und mit geringem Steueraufwand ein­zusetzende Vorrichtung besteht erfindungsgemäß darin, daß jedes Saugrohr höhenverstellbar in der Aufnahme angeordnet ist und gegen den Druck einer Feder über einen zugeordneten Hubmagneten, aus einer von der Vakuumzuführung abgetrennten zurückgezogenen Ruheposition in eine mit der Vakuumzuführung verbundenen, aus der Aufnahme hervortretenden Arbeitsposition einstellbar ist.An advantageous device which can be used with little control effort is, according to the invention, that each suction pipe is arranged in a height-adjustable manner in the receptacle and against the pressure of a spring via an associated lifting magnet, from a retracted rest position separated from the vacuum feeder into a receptacle connected to the vacuum feeder, from the receptacle protruding working position is adjustable.

Eine einfache Abdichtung zur Vakuumzuführung wird da­durch geschaffen, daß das Saugrohr mit seiner Eintritts­öffnung in der zurückgezogenen Ruheposition an einem zugeordneten Dichtgummielement der Begrenzung als Ab­schluß anliegt.A simple seal for the vacuum supply is created in that the suction pipe, with its inlet opening in the retracted rest position, bears against an associated sealing rubber element of the boundary as a closure.

Für das Heben von Kunststoff- und Glasplatten wird vorgeschlagen, daß die Saugöffnungen der Saugrohre durch Saugnäpfe gebildet sind.For the lifting of plastic and glass plates, it is proposed that the suction openings of the suction pipes are formed by suction cups.

Um die Einrichtung der Vorrichtung auf wiederholt eingesetzte unterschiedliche Werkstücke zu vereinfachen, ist vorgesehen, daß die einzelnen Saugrohre entsprechend der vorliegenden Zuschnittsgeometrie und/oder des Gewichtes des Zuschnittes über einen Rechner ansteuerbar sind.In order to simplify the installation of the device on repeatedly used different workpieces, it is provided that the individual suction pipes can be controlled by a computer in accordance with the existing cutting geometry and / or the weight of the cutting.

In der Zeichnung ist ein Ausführungsbeispiel der Er­findung schematisch dargestellt. Es zeigen:

  • Fig. 1 einen Teilschnitt durch eine Vorrichtung,
  • Fig. 2 eine Teildraufsicht auf eine Aufnahme­fläche ohne Deck- und Führungsplatte.
In the drawing, an embodiment of the invention is shown schematically. Show it:
  • 1 is a partial section through a device,
  • Fig. 2 is a partial plan view of a receiving surface without a cover and guide plate.

Bei der dargestellten Ausbildung wird die Aufnahme durch eine kastenförmige Anordnung aus Deckplatte 1, Seiten­wand 2 und Bodenplatte 3 gebildet. Der dadurch um­schlossene Raum wird als Vakuumraum 12 mit einem nicht näher dargestellten Vakuumerzeuger versorgt. Die Boden­platte 3 als Aufnahmebereich für ein Werkstück besitzt Öffnungen zum Druchtritt von rasterförmig angeordneten Saugrohren 5,6, die über Federn 11 in der zurück­gezogenen Ruheposition gehalten werden und durch eine Führungsplatte 4 geführt sind. Dabei liegen die Saug­rohre 5,6 in dieser Ruheposition an der Deckplatte 1 an und werden über ein zwischengeschaltetes Dichtgummi­element 9 mit ihren Eintrittsöffnungen gegenüber dem Vakuumraum abgedichtet.In the embodiment shown, the receptacle is formed by a box-shaped arrangement of cover plate 1, side wall 2 and base plate 3. The space enclosed thereby is supplied as a vacuum space 12 with a vacuum generator, not shown. The base plate 3 as a receiving area for a workpiece has openings for the passage of grid-shaped suction tubes 5, 6, which are held in the retracted rest position by springs 11 and are guided by a guide plate 4. In this rest position, the suction pipes 5, 6 rest on the cover plate 1 and are sealed with their inlet openings from the vacuum space by means of an interposed sealing rubber element 9.

Jedes Saugrohr 5,6 ist über einen Betätigungshebel 10, der mit einem Hubmagneten 7,8 verbunden ist, in eine hervortretende Arbeitsposition einstellbar. Hierbei wird auch die Eintrittsöffnung des Saugrohres 5,6 freigegeben und mit dem Vakuumraum 12 verbunden. Somit ist jedes Saugrohr 5,6 über den zugeordneten Hubmagneten 7,8 auf einfache Weise individuell ansteuerbar und mit Vakuum versorgbar.Each suction tube 5, 6 can be set into a protruding working position via an actuating lever 10, which is connected to a lifting magnet 7, 8. In this case, the inlet opening of the suction pipe 5, 6 is also opened and connected to the vacuum space 12. Each suction pipe 5, 6 can thus be individually controlled in a simple manner and can be supplied with a vacuum via the associated lifting magnet 7, 8.

Claims (5)

1. Vorrichtung zum Aufnehmen und Ablegen von Zuschnitten, wie Prepreg-, Stoff-, Folien- oder Plattenzuschnitte, in Form eines Vakuumhebers, dadurch gekennzeichnet, daß eine Vielzahl von Saugrohren (5,6) zur Bildung von Saugöffnungen an einer Aufnahme (1,2,3) raster­artig verteilt angeordnet ist und jedes Saugrohr (5,6) zur Vakuumzuführung individuell ansteuerbar ist.1. Device for receiving and depositing blanks, such as prepreg, fabric, film or plate blanks, in the form of a vacuum lifter, characterized in that a plurality of suction tubes (5, 6) for forming suction openings on a receptacle (1, 2, 3) is arranged in a grid-like manner and each suction pipe (5, 6) can be controlled individually for the vacuum supply. 2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß jedes Saugrohr (5,6) höhenverstellbar in der Aufnahme (1,2,3) angeordnet ist und gegen den Druck einer Feder (11) über einen zugeordneten Hubmagneten (7,8), aus einer von der Vakuumzuführung abgetrennten zurückgezogenen Ruheposition in eine mit der Vakuum­zuführung verbundene, aus der Aufnahme (1,2,3) hervortretenden Arbeitsposition einstellbar ist.2. Apparatus according to claim 1, characterized in that each suction pipe (5,6) is arranged adjustable in height in the receptacle (1,2,3) and against the pressure of a spring (11) via an associated lifting magnet (7,8), can be adjusted from a retracted rest position separated from the vacuum supply into a working position connected to the vacuum supply and emerging from the receptacle (1, 2, 3). 3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekenn­zeichnet, daß das Saugrohr (5,6) mit seiner Eintritts­öffnung in der zurückgezogenen Ruheposition an einem zugeordneten Dichtgummielement(9) der Begrenzung (1) als Abschluß anliegt.3. Apparatus according to claim 1 or 2, characterized in that the suction pipe (5,6) with its inlet opening in the retracted rest position on an associated sealing rubber element (9) of the boundary (1) is present as a closure. 4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die Saugöffnungen der Saugrohre (5,6) durch Saugnäpfe gebildet sind.4. Device according to one of claims 1 to 3, characterized in that the suction openings of the suction pipes (5,6) are formed by suction cups. 5. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die einzelnen Saugrohre (5,6) entsprechend der vorliegenden Zuschnittsgeometrie und/oder des Gewichtes des Zuschnittes über einen Rechner ansteuerbar sind.5. Device according to one of claims 1 to 4, characterized in that the individual suction pipes (5, 6) can be controlled by a computer in accordance with the present cutting geometry and / or the weight of the cutting.
EP87111740A 1986-09-03 1987-08-13 Device for picking up and depositing cut articles Expired - Lifetime EP0262360B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3629968 1986-09-03
DE19863629968 DE3629968A1 (en) 1986-09-03 1986-09-03 DEVICE FOR RECEIVING AND DEPOSITING CUTS

Publications (3)

Publication Number Publication Date
EP0262360A2 true EP0262360A2 (en) 1988-04-06
EP0262360A3 EP0262360A3 (en) 1989-08-30
EP0262360B1 EP0262360B1 (en) 1992-06-03

Family

ID=6308820

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87111740A Expired - Lifetime EP0262360B1 (en) 1986-09-03 1987-08-13 Device for picking up and depositing cut articles

Country Status (3)

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US (1) US4793657A (en)
EP (1) EP0262360B1 (en)
DE (1) DE3629968A1 (en)

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JP4935488B2 (en) * 2007-04-25 2012-05-23 村田機械株式会社 Plate material transfer device
DE102011106214A1 (en) * 2011-06-07 2012-12-13 Brötje-Automation GmbH end effector
JP5129371B1 (en) * 2011-07-27 2013-01-30 ファナック株式会社 Suction robot hand with weight measurement function
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TWI527656B (en) * 2012-08-08 2016-04-01 鴻海精密工業股份有限公司 Assembling method of lens module
US9962828B2 (en) * 2014-08-05 2018-05-08 Corning Incorporated End-of-arm tool
GB2532211A (en) * 2014-11-11 2016-05-18 Lee Bools Andrew Improvements to robotic arm end effectors and their use in the preparation and application of production materials
DE102015009177A1 (en) 2015-07-09 2017-01-12 Broetje-Automation Gmbh Method for producing a fiber-metal laminate component of an aircraft
CN106829493A (en) * 2017-01-23 2017-06-13 晋江万智进出口贸易有限公司 A kind of stacking machine with goods screening function
US10350826B2 (en) * 2017-04-03 2019-07-16 Xerox Corporation Vacuum tube object clamping array with conformable pads
CN110651079B (en) * 2017-04-25 2021-12-21 株式会社 Tism Punching device
CN113860252B (en) * 2021-09-15 2022-06-24 广州市联柔机械设备有限公司 Preparation device and method of bagged spring bed net

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Also Published As

Publication number Publication date
EP0262360A3 (en) 1989-08-30
US4793657A (en) 1988-12-27
DE3629968C2 (en) 1990-09-27
DE3629968A1 (en) 1988-03-10
EP0262360B1 (en) 1992-06-03

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